WO2024092620A1 - 前照灯随动转向控制方法及存储介质 - Google Patents

前照灯随动转向控制方法及存储介质 Download PDF

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Publication number
WO2024092620A1
WO2024092620A1 PCT/CN2022/129562 CN2022129562W WO2024092620A1 WO 2024092620 A1 WO2024092620 A1 WO 2024092620A1 CN 2022129562 W CN2022129562 W CN 2022129562W WO 2024092620 A1 WO2024092620 A1 WO 2024092620A1
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image
control method
light
light shape
light source
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PCT/CN2022/129562
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English (en)
French (fr)
Inventor
金朗润
张大攀
仇智平
严梦
刘方
祝贺
桑文慧
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华域视觉科技(上海)有限公司
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Priority to PCT/CN2022/129562 priority Critical patent/WO2024092620A1/zh
Publication of WO2024092620A1 publication Critical patent/WO2024092620A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/12—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V14/00—Controlling the distribution of the light emitted by adjustment of elements

Definitions

  • the present invention relates to a headlamp follow-up steering technology, and in particular to a headlamp follow-up steering control method.
  • the present invention also relates to a storage medium.
  • AVS adaptive steering systems
  • AFS function There are usually two technical solutions to achieve the AFS function. One is to achieve it through mechanical transmission, that is, the lighting module is rotated through transmission components such as motors and shafts to achieve the AFS effect. However, the structure is complex. The other is to use a matrix lighting module (Matrix module) to achieve the AFS function by turning the LED on and off.
  • Matrix module matrix lighting module
  • the technical problem to be solved by the present invention is to provide a headlamp follow-up steering control method, which reduces the requirements on the computing power of the controller and can achieve a smooth, fast-response, and simple-structured follow-up steering effect.
  • a further technical problem to be solved by the present invention is to provide a storage medium for storing a computer instruction program for implementing a headlamp follow-up steering control method.
  • the present invention provides a headlamp follow-up steering control method, which performs the following steps in each control cycle:
  • the controller reads the output control instruction of the outgoing light shape corresponding to the light shape image, and controls the array light source to emit light and then project to form the outgoing light shape.
  • the brightest point in the background light image is moved in a horizontal direction according to the steering angle of the vehicle.
  • the brightest point is made to move linearly with the steering angle of the vehicle.
  • a mask image is constructed, and according to the steering angle of the vehicle, the mask image and the background light image are moved in the horizontal direction, and the mask image and the background light image are superimposed to form a low-beam light image, and the controller reads an output control instruction of the output light shape corresponding to the low-beam light shape image, and controls the array light source to emit light and then project it to form a low-beam light shape.
  • the mask image is a picture that retains an alpha channel.
  • the mask image has a dark area for correspondingly forming a low beam cut-off line.
  • the array light source is an LED array light source.
  • the LED light source of the LED array light source is connected to an LED driver.
  • the controller is an MCU.
  • Another aspect of the present invention provides a storage medium, which stores computer instructions.
  • a computer executes the computer instructions, it is used to execute the steps of the headlamp follow-up steering control method described in any one of the above technical solutions.
  • the present invention can obtain the light shape image corresponding to the current steering angle of the vehicle by processing the background light shape image, and the controller stores the light shape image and the output control instruction of the outgoing light shape, and the output control instruction is used by the controller to control the opening and closing of the light source unit in the array light source, so as to obtain the corresponding outgoing light shape.
  • the structure is simple, and compared with the existing matrix lighting module, the requirement for the computing power of the controller is lower, and the AFS effect with smoothness, fast response and simple structure can be realized.
  • FIG. 1 is a schematic diagram of a process of superimposing a background light image and a mask image in a specific embodiment of the present invention
  • FIG2 is a schematic diagram of the effect of a background light shape image in a specific embodiment of the present invention.
  • FIG3 is a schematic diagram showing the effect of a background light-shaped image shifting to the left in a specific embodiment of the present invention
  • FIG4 is a schematic diagram showing the effect of the background light-shaped image shifting to the right in a specific embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the superposition effect of the background light image and the mask image in a specific embodiment of the present invention.
  • FIG. 6 is a schematic diagram showing the effect of the background light image and the mask image being shifted to the left and superimposed in a specific embodiment of the present invention
  • FIG. 7 is a schematic diagram showing the effect of the background light image and the mask image being shifted to the right and superimposed in a specific embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for controlling a headlamp following steering according to a specific embodiment of the present invention.
  • the terms "front”, “rear”, “left” and “right” are related to the direction of vehicle travel. Generally, when a vehicle is traveling forward, it faces forward, and its two sides are left and right. Accordingly, for the light shape projected by the headlights, the left and right directions of the light shape are basically consistent with the left and right directions of the vehicle. Therefore, the terms are based on the orientation or positional relationship shown in the drawings, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Moreover, the orientation terms of the light shape of the present invention should be understood in conjunction with the actual installation state.
  • the present invention provides a method for controlling a headlamp with dynamic steering, wherein the following steps are performed in each control cycle:
  • the controller reads the output control instruction of the outgoing light shape corresponding to the light shape image, and controls the array light source to emit light and then project to form the outgoing light shape.
  • the vehicle steering angle is used as a basis. Since the vehicle steering angle is related to the vehicle's steering wheel control, the steering wheel rotation angle can also be used as a basis. In order to obtain the effect of follow-up steering, the outgoing light shape needs to be roughly maintained in front of the vehicle during the vehicle's curve turning process.
  • the existing matrix lighting module method it is necessary to control some light source units in the matrix lighting module to turn on and the remaining light source units to turn off, so as to obtain the outgoing light shape; in the existing matrix lighting module method, it is necessary to set up an infrared night vision system, illuminate the road surface in front of the vehicle through an infrared light source, and collect the road surface information in front by an infrared camera, and then feed it back to the vehicle controller.
  • the controller needs to perform a large amount of calculations to control some light source units in the matrix lighting module to turn on and the remaining light source units to turn off, so as to obtain the outgoing light shape; the existing matrix lighting module method has very high requirements on the computing power of the controller.
  • the present invention directly processes the background light image based on the steering wheel rotation angle to obtain a light image corresponding to the steering wheel rotation angle.
  • the controller can directly query the program stored therein for the correspondence between the light image and the outgoing light image, find the corresponding control instruction of the outgoing light image according to the light image, and make the controller issue a control instruction in the form of query, so as to present the corresponding outgoing light image in front of the vehicle.
  • the whole control process is simple and does not require the controller to have a high computing power.
  • LED can be selected as the light source unit in the array light source to form an LED array light source, and the corresponding output light shape can be obtained by controlling the turning on and off of each LED in the array light source; alternatively, other light source units suitable for forming an array light source, such as a laser light source, can be selected.
  • a single chip microcomputer can be used as a controller in a vehicle lighting control system, and a program for querying the stored correspondence between the light shape image and the emitted light shape can be used to enable the MCU to issue a control instruction.
  • the controller can also be a control device in other forms, such as a field programmable gate array (FPGA).
  • FPGA field programmable gate array
  • a driver is provided between the controller and the array light source.
  • each LED is connected to the LED driver, and the controller controls the LED to turn on and off through the LED driver.
  • the background light image refers to an image corresponding to the outgoing light shape when the vehicle is traveling in a straight line, and the background light image is stored in the controller as the basis for image processing.
  • the mask image refers to an image with an inverted trapezoidal dark area, the edge of which corresponds to the cutoff line of the low beam light shape, and when superimposed with the background light image, the superimposed image can be presented as an image of the low beam light shape.
  • the image processing program stored in the vehicle's controller will process the background light image according to the feedback information of the steering wheel rotation angle obtained.
  • the brightest point there is generally an area with the highest brightness relative to other areas in the image, which is called the brightest point.
  • the brightest point is usually located in the central area of the background light shape image, so that the central area of the emitted high beam light shape has a higher brightness.
  • the vertical axis of the background light image when the vehicle is traveling in a straight line is taken as the central axis, and the brightest point is moved to the left or right of the central axis according to the steering wheel rotation angle; for example, referring to FIG4, the steering wheel rotation angle is 2 degrees, and the brightest point will move to the right of the central axis.
  • the processed image can be regarded as the bright area of the background light image moving to the right and converging, while reducing the bright area on the left; similarly, referring to FIG3, the processed image can be regarded as the bright area of the background light image moving to the left and converging, while reducing the bright area on the right.
  • the image obtained by moving the brightest point in the background light image to the left or right is basically consistent with the corresponding high beam light shape, so that the controller queries the corresponding relationship between the stored high beam light shape image and the control instruction of the high beam light shape, outputs the control instruction to the driver, controls the opening and closing of each light source unit in the array light source, so that the emitted high beam light shape has a follow-up steering effect.
  • the mask image For the low beam light shape, it is necessary to block part of the upper part of the light shape; accordingly, a mask image is stored in the controller, referring to FIG1 , the mask image has an inverted trapezoidal dark area, and the edge of the inverted trapezoidal dark area corresponds to the cutoff line of the low beam light shape.
  • the mask image retains an alpha channel, which is used to record the transparency information in the image.
  • the image displays the background color black, and if opaque, the image displays white; during the vehicle turning process, according to the steering wheel rotation angle feedback information obtained, the transparency of some pixels in the mask image is set to transparent, and the transparency of another part of the pixels is set to opaque, referring to FIG6 and FIG7 , the processed mask image feels like the black area therein is moved to the left or right. And the brightest point of the processed background light image will move to the left or right side of the central axis, and then the processed mask image will be superimposed on the processed background light image to form a low beam light image, which is basically consistent with the corresponding low beam light shape.
  • the controller queries the correspondence between the stored low beam light image and the control instruction of the low beam light shape, outputs the control instruction to the driver, controls the opening and closing of each light source unit in the array light source, so that the emitted low beam light shape has a follow-up steering effect.
  • the background light shape image is graphically similar to the outgoing high beam light shape when the vehicle is traveling in a straight line
  • the mask image is superimposed on the background light shape image to form a low beam light shape image that is graphically similar to the outgoing low beam light shape when the vehicle is traveling in a straight line.
  • an image that is not graphically similar to the high beam light shape can also be used as the background light shape image, and the brightest point in the background light shape image is offset to form query information corresponding to the high beam light shape control instruction
  • an image that is not graphically similar to the low beam light shape can be used as a mask image and superimposed on the background light shape image to read the query information corresponding to the low beam light shape control instruction.
  • the headlamp follow-up steering control method performs the following steps in each control cycle:
  • the brightest point in the background light image is shifted to the corresponding position along with the steering wheel rotation angle through the image processing program to form a high beam light image.
  • the controller queries the corresponding relationship between the high beam light image and the control instruction for controlling the LED array light source to form the corresponding high beam light shape, and outputs the control instruction to the LED driver to make the LED array light source emit light and project it onto the road surface in front of the vehicle to form the corresponding high beam light shape.
  • the background light shape image may not be processed, and the corresponding relationship between the control instruction for controlling the LED array light source to form the corresponding high beam light shape in this case is directly queried, and the control instruction is output to the LED driver to make the LED array light source emit light and project it onto the road surface in front of the vehicle to form the corresponding high beam light shape;
  • a mask image corresponding to the vehicle driving in a straight line is extracted, and the mask image is processed through the alpha channel according to the steering wheel rotation angle, so that the dark area corresponding to the low beam cutoff line in the upper part of the mask image is offset to the corresponding position along with the steering wheel rotation angle, and then the processed mask image is superimposed on the background light shape image to form a low beam light shape image, and the controller inquires about the corresponding relationship between the low beam light shape image and the control instruction for controlling the LED array light source to form the corresponding low beam light shape, and outputs the control instruction to the LED driver, so that the LED array light source emits light and projects it onto the road surface in front of the vehicle to form the corresponding low beam light shape;
  • the mask image can be processed without processing.
  • the correspondence between the control instructions for controlling the LED array light source to form the corresponding low beam light shape in this case can be directly queried, and the control instructions can be output to the LED driver to make the LED array light source emit light and project it onto the road surface in front of the vehicle to form the corresponding low beam light shape.
  • the headlamp follow-up steering control method of the present invention when applied, makes the logic of the LED array light source working mode corresponding to different light patterns into a program and stores it in the MCU. Under different circumstances, the MCU issues control instructions in a query manner to achieve the follow-up steering function, thereby achieving a smooth, fast-response, and simple-structured high and low beam follow-up steering effect.
  • the present invention also provides a storage medium, which stores computer instructions. When a computer executes the computer instructions, it is used to execute all the steps of the headlamp follow-up steering control method as described above.

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Abstract

一种前照灯随动转向控制方法及存储介质，该前照灯随动转向控制方法在每个控制周期内进行如下步骤：获取车辆转向角度；根据车辆转向角度，对背景光形图像进行处理，以得到与车辆转向角度相对应的光形图像；控制器读取与光形图像对应的出射光形的输出控制指令，控制阵列光源出射光线后投射形成出射光形。该前照灯随动转向控制方法降低了对控制器的计算能力的要求，能够实现平滑、快速响应、结构简单的随动转向效果。

Description

前照灯随动转向控制方法及存储介质 技术领域
本发明涉及前照灯随动转向技术，具体地，涉及一种前照灯随动转向控制方法。此外，还涉及一种存储介质。
背景技术
研究统计表明，夜晚交通事故发生概率远远高于白天。其中由于夜晚照明光线不足而产生的视野盲区，导致驾驶者无法感知和预判前方道路危险，是造成夜晚交通事故的重要原因。
通常汽车上安装的普通大灯无论亮度高低，都有一定的照明范围，所以在道路照明设施照明亮度低甚至无照明情况时，由于普通前照大灯固定，前方道路必然出现无照明的视野盲区，尤其在车辆在弯道及交叉口行驶时，导致驾驶员无法观测“盲区”内道路及行人、车辆等障碍物，极易发生交通事故。
对此，目前，汽车装备有随动转向照明***(AFS)，根据车辆的行驶状况、路况以及天气来适时地调节前照灯的照射角度、形状、光亮度以及照射时间，从而达到相应状况下的最优照明表现。
通常采用两种技术方案实现AFS功能，一种是通过机械传动实现，即通过电机、转轴等传动组件使照明模组旋转，从而实现AFS效果，但是，结构复杂；另一种是采用矩阵照明模组(Matrix模组)， 通过LED的亮灭实现AFS功能，但是，实现AFS功能时会有比较明显的“顿挫”感，且对控制器的计算能力具有很高的要求。
发明内容
本发明所要解决的技术问题是提供一种前照灯随动转向控制方法，该前照灯随动转向控制方法降低了对控制器的计算能力的要求，能够实现平滑、快速响应、结构简单的随动转向效果。
本发明进一步所要解决的技术问题是提供一种存储介质，该存储介质用于存储实现前照灯随动转向控制方法的计算机指令程序。
为了解决上述技术问题，本发明一方面提供一种前照灯随动转向控制方法，在每个控制周期内进行如下步骤：
获取车辆转向角度；
根据所述车辆转向角度，对背景光形图像进行处理，以得到与所述车辆转向角度相对应的光形图像；
控制器读取与所述光形图像对应的出射光形的输出控制指令，控制阵列光源出射光线后投射形成所述出射光形。
可选地，在对所述背景光形图像进行处理时，根据所述车辆转向角度，沿水平方向对所述背景光形图像中的最亮点进行移动。
进一步地，以所述背景光形图像的中轴线为基准，使所述最亮点随车辆转向角度线性移动。
可选地，构建遮罩图像，根据所述车辆转向角度，沿水平方向移动所述遮罩图像与所述背景光形图像，并使所述遮罩图像与所述背景 光形图像叠加形成近光光形图像，所述控制器读取与所述近光光形图像对应的出射光形的输出控制指令，控制所述阵列光源出射光线后投射形成近光光形。
具体地，所述遮罩图像为保留alpha通道的图片。
具体地，所述遮罩图像上具有用于对应形成近光截止线的暗区。
可选地，所述阵列光源为LED阵列光源。
进一步具体地，所述LED阵列光源的LED光源与LED驱动器连接。
可选地，所述控制器为MCU。
本发明另一方面提供一种存储介质，所述存储介质存储计算机指令，当计算机执行所述计算机指令时，用于执行上述技术方案中任一项所述的前照灯随动转向控制方法的步骤。
通过上述技术方案，本发明的有益效果如下：
本发明通过对背景光形图像进行处理，就能够获得车辆当前转向角度所对应的光形图像，控制器内存储有光形图像与出射光形的输出控制指令，该输出控制指令用于控制器控制阵列光源中的光源单元的开启与关闭，从而得到相应的出射光形。相对于现有的机械传动方式实现AFS功能而言，结构简单，而且相对于现有的矩阵照明模组，对于控制器的计算能力的要求较低，能够实现平滑、快速响应、结构简单的AFS效果。
有关本发明的其他优点以及优选实施方式的技术效果，将在下文的具体实施方式中进一步说明。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1是本发明具体实施方式中的背景光形图像与遮罩图像叠加过程的示意图；
图2是本发明具体实施方式中的背景光形图像的效果示意图；
图3是本发明具体实施方式中的背景光形图像向左偏移的效果示意图；
图4是本发明具体实施方式中的背景光形图像向右偏移的效果示意图；
图5是本发明具体实施方式中的背景光形图像与遮罩图像的叠加效果示意图；
图6是本发明具体实施方式中的背景光形图像与遮罩图像向左偏移后叠加的效果示意图；
图7是本发明具体实施方式中的背景光形图像与遮罩图像向右偏移后叠加的效果示意图；
图8是本发明具体实施方式中的前照灯随动转向控制方法的流程框图。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
需要理解的是，为了便于描述本发明和简化描述，术语“前”、“后”、“左”、“右”是与车辆行驶方向有关，一般地，车辆正向行驶时朝向前方，其两侧为左右两侧；相应地，对于车灯投射的光形而言，光形的左右方向与车辆的左右方向基本一致。因此，术语为基于附图所示的方位或位置关系，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制；而且，对于本发明的光形的方位术语，应当结合实际安装状态进行理解。
参照图1至图8，本发明提供了一种前照灯随动转向控制方法，其中，在每个控制周期内进行如下步骤：
获取车辆转向角度；
根据所述车辆转向角度，对背景光形图像进行处理，以得到与所述车辆转向角度相对应的光形图像；
控制器读取与所述光形图像对应的出射光形的输出控制指令，控制阵列光源出射光线后投射形成所述出射光形。
在上述技术方案中，以车辆转向角度为依据，由于车辆转向角度与车辆的方向盘控制有关，所以，也可以以方向盘转动角度为依据，为了获得随动转向的效果，在车辆弯道转向的过程中，需要出射光形大致上保持在车辆的正前方。对于采用现有的矩阵照明模组的方式， 需要控制矩阵照明模组中的部分光源单元开启且其余光源单元关闭，从而获得出射光形；在现有的矩阵照明模组的方式中，需要设置红外夜视***，通过红外光源对车辆前方的路面进行照射，并由红外摄像头采集前方的路面信息，然后反馈给车辆的控制器，控制器需要进行较大的计算量，才能够控制矩阵照明模组中的部分光源单元开启且其余光源单元关闭，获得出射光形；现有的矩阵照明模组的方式对于控制器的运算能力具有很高的要求。然而，本发明直接以方向盘转动角度为依据，对背景光形图像进行处理，得到与方向盘转动角度相对应的光形图像，控制器可以直接查询其内存储的光形图像与出射光形对应关系的程序，根据光形图像，找到相对应的出射光形的控制指令，以查询的方式使控制器发出控制指令，从而在车辆前方呈现相对应的出射光形。整个控制过程简洁，不需要控制器具有很高的运算能力。
一般地，可以选择LED作为阵列光源中的光源单元，形成一种LED阵列光源，通过控制阵列光源中各个LED的开启与关闭，获得相对应的出射光形；或者，也可以选择其它能够适于形成阵列光源的光源单元，如激光光源。
在一个具体实施例中，可以采用单片机(MCU)作为车辆照明控制***中的控制器，查询存储的光形图像与出射光形对应关系的程序，使MCU发出控制指令。或者，控制器也可以采用其它形式的控制装置，如可编程逻辑门阵列(FPGA)。
在一个具体实施例中，在控制器与阵列光源之间设置有驱动器，对LED阵列光源而言，每个LED均与LED驱动器相连接，控制器 通过LED驱动器控制LED开启与关闭。
参照图2，关于背景光形图像，背景光形图像是指与车辆直线行驶时的出射光形相对应的图像，该背景光形图像存储在控制器中，作为图像处理的基础。参照图1和图5，关于遮罩图像，遮罩图像是指具有倒立梯形暗区的图像，其倒立梯形暗区的边缘与近光光形的截止线相对应，在与背景光形图像叠加的情况下，能够使叠加后的图形呈现为近光光形的图像。
在车辆弯道转向的过程中，根据获得的方向盘转动角度反馈信息，车辆的控制器内存储的图像处理程序会对背景光形图像进行处理。具体地，对于远光光形而言，图像中一般存在相对于其它区域而言亮度最高的区域，对此称为最亮点，在车辆直线行驶的过程中，最亮点通常位于背景光形图像的中心区域，从而使得出射的远光光形的中心区域具有更高的亮度。这样，假设背景光形图像的最亮点的水平移动角度相对方向盘转动角度而言是线性的，且该线性关系与背景光形图像的最亮点到背景光形图像中心的水平角度有关；假设背景光形图像最亮点对于方向盘转动角度响应得到的竖直方向角度移动始终为0，以上两条假设显然合理的。以上述假设为前提，以车辆直线行驶时背景光形图像的竖向轴线为中轴线，根据方向盘转动角度，将最亮点向中轴线的左侧或右侧移动；例如，参照图4，方向盘转动角度为2度，最亮点会往中轴线的右侧移动，相对于车辆直线行驶时的背景光形图像而言，经过处理后的图像可以看成是背景光形图像亮区域向右侧移动汇聚，同时减少左侧的亮区域而形成的；同理地，参照图3，经过 处理后的图像可以看成是背景光形图像亮区域向左侧移动汇聚，同时减少右侧的亮区域而形成的。如此，根据方向盘转动角度，将背景光形图像中的最亮点经过向左或向右移动处理后得到的图像，与相应的远光光形基本一致，从而控制器查询存储的远光光形图像与远光光形的控制指令的对应关系，向驱动器输出控制指令，控制阵列光源中各个光源单元的开启与关闭，使得出射的远光光形具有随动转向效果。
对于近光光形而言，需要将光形上部的部分光形遮挡；相应地，在控制器内存储遮罩图像，参照图1，遮罩图像具有倒立梯形暗区，其倒立梯形暗区的边缘与近光光形的截止线相对应。遮罩图像保留有alpha通道，alpha通道用于记录图像中透明度信息，若透明则图像显示底色黑色，若不透明则图像显示白色；在车辆弯道转向的过程中，根据获得的方向盘转动角度反馈信息，将遮罩图像中部分像素的透明度设置为透明，将另一部分像素的透明度设置为不透明，参照图6和图7，经过处理后的遮罩图像感觉上就像其中的黑色区域向左或向右移动而形成的。且经过处理的背景光形图像的最亮点会往中轴线的左侧或右侧移动，再将处理后遮罩图像叠加在处理后的背景光形图像上形成近光光形图像，与相应的近光光形基本一致，从而控制器查询存储的近光光形图像与近光光形的控制指令的对应关系，向驱动器输出控制指令，控制阵列光源中各个光源单元的开启与关闭，使得出射的近光光形具有随动转向效果。
在图1至图7所示的各个实施例中，背景光形图像在图形上与车辆直线行驶时的出射远光光形近似，遮罩图像叠加在背景光形图像上 形成近光光形图像在图形上与车辆直线行驶时的出射近光光形近似，这样设计主要是为了便于理解本发明的技术方案，可以理解的是，也可以采用与远光光形在图形上并不近似的图像作为背景光形图像，将背景光形图像中的最亮点偏移后形成用于读取远光光形控制指令对应的查询信息，以及可以采用与近光光形在图形上并不近似的图像作为遮罩图像，叠加在背景光形图像上用于读取近光光形控制指令对应的查询信息，这种简单变形也属于本发明的保护范围。
为了更好地理解本发明的技术方案，以下结合相对全面的技术特征本发明的技术方案进行描述。
参照图1至图7，前照灯随动转向控制方法在每个控制周期内进行如下步骤：
获取方向盘转动角度；
提取车辆直线行驶时对应的背景光形图像，当需要远光照明时，根据方向盘转动角度，通过图像处理程序将背景光形图像内的最亮点随着方向盘转动角度偏移到对应的位置，形成远光光形图像，控制器查询远光光形图像与控制LED阵列光源形成对应的远光光形的控制指令的对应关系，向LED驱动器输出控制指令，使LED阵列光源发光并投射到车辆前方的路面形成相应的远光光形；
其中，当车辆保持直线行驶，且需要远光照明时，可以不对背景光形图像处理，直接查询此种情况下与控制LED阵列光源形成对应的远光光形的控制指令的对应关系，向LED驱动器输出控制指令，使LED阵列光源发光并投射到车辆前方的路面形成相应的远光光形；
当需要近光照明时，提取车辆直线行驶时对应的遮罩图像，根据方向盘转动角度，通过alpha通道，对遮罩图像进行处理，使遮罩图像中上部的与近光截止线形相对应的暗区随着方向盘转动角度偏移到对应的位置，然后将处理后的遮罩图像叠加在背景光形图像上，形成近光光形图像，控制器查询近光光形图像与控制LED阵列光源形成对应的近光光形的控制指令的对应关系，向LED驱动器输出控制指令，使LED阵列光源发光并投射到车辆前方的路面形成相应的近光光形；
其中，当车辆保持直线行驶，且需要近光照明时，可以不对遮罩图像进行处理，直接查询此种情况下与控制LED阵列光源形成对应的近光光形的控制指令的对应关系，向LED驱动器输出控制指令，使LED阵列光源发光并投射到车辆前方的路面形成相应的近光光形。
相对于现有的采用矩阵照明模组实现随动转向功能的方式，本发明前照灯随动转向控制方法在应用时，将不同光形图对应LED阵列光源工作模式的逻辑做成程序存储于MCU中，在不同情况下，以查询的方式使MCU发出控制指令，以实现随动转向功能，从而实现平滑、快速响应、结构简单的远近光随动转向效果。
本发明还提供一种存储介质，该存储介质存储计算机指令，当计算机执行计算机指令时，用于执行如上所述的前照灯随动转向控制方法的所有步骤。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内， 可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (10)

  1. 一种前照灯随动转向控制方法，其特征在于，在每个控制周期内进行如下步骤：
    获取车辆转向角度；
    根据所述车辆转向角度，对背景光形图像进行处理，以得到与所述车辆转向角度相对应的光形图像；
    控制器读取与所述光形图像对应的出射光形的输出控制指令，控制阵列光源出射光线后投射形成所述出射光形。
  2. 根据权利要求1所述的前照灯随动转向控制方法，其特征在于，在对所述背景光形图像进行处理时，根据所述车辆转向角度，沿水平方向对所述背景光形图像中的最亮点进行移动。
  3. 根据权利要求2所述的前照灯随动转向控制方法，其特征在于，以所述背景光形图像的中轴线为基准，使所述最亮点随车辆转向角度线性移动。
  4. 根据权利要求1所述的前照灯随动转向控制方法，其特征在于，构建遮罩图像，根据所述车辆转向角度，沿水平方向移动所述遮罩图像与所述背景光形图像，并使所述遮罩图像与所述背景光形图像叠加形成近光光形图像，所述控制器读取与所述近光光形图像对应的出射光形的输出控制指令，控制所述阵列光源出射光线后投射形成近 光光形。
  5. 根据权利要求4所述的前照灯随动转向控制方法，其特征在于，所述遮罩图像为保留alpha通道的图片。
  6. 根据权利要求4所述的前照灯随动转向控制方法，其特征在于，所述遮罩图像上具有用于对应形成近光截止线的暗区。
  7. 根据权利要求1至5中任一项所述的前照灯随动转向控制方法，其特征在于，所述阵列光源为LED阵列光源。
  8. 根据权利要求7所述的前照灯随动转向控制方法，其特征在于，所述LED阵列光源的LED光源与LED驱动器连接。
  9. 根据权利要求1至5中任一项所述的前照灯随动转向控制方法，其特征在于，所述控制器为MCU。
  10. 一种存储介质，其特征在于，所述存储介质存储计算机指令，当计算机执行所述计算机指令时，用于执行权利要求1至9中任一项所述的前照灯随动转向控制方法的步骤。
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